mlsanityData to 7 Oct 2026

Semi-supervised Implicit Scene Completion from Sparse LiDAR

arXiv 2111.14798 ↗First posted 29 Nov 2021cs.CVcited by 10

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Abstract (arXiv)

Recent advances show that semi-supervised implicit representation learning can be achieved through physical constraints like Eikonal equations. However, this scheme has not yet been successfully used for LiDAR point cloud data, due to its spatially varying sparsity. In this paper, we develop a novel formulation that conditions the semi-supervised implicit function on localized shape embeddings. It exploits the strong representation learning power of sparse convolutional networks to generate shape-aware dense feature volumes, while still allows semi-supervised signed distance function learning without knowing its exact values at free space. With extensive quantitative and qualitative results, we demonstrate intrinsic properties of this new learning system and its usefulness in real-world road scenes. Notably, we improve IoU from 26.3% to 51.0% on SemanticKITTI. Moreover, we explore two paradigms to integrate semantic label predictions, achieving implicit semantic completion. Code and models can be accessed at https://github.com/OPEN-AIR-SUN/SISC.

Key facts. Cited by 10 papers in the map (data through 7 Oct 2026). Builds on 26 of its 35 references that are in the map. First posted on arXiv 29 Nov 2021.

Builds on

26 of 35 references.

References · 26

  1. 2015U-Net: Convolutional Networks for Biomedical Image Segmentationcited by 19,604
  2. 2019DeepSDF: Learning Continuous Signed Distance Functions for Shape Representationcited by 2,682
  3. 2020Implicit Neural Representations with Periodic Activation Functionscited by 2,214
  4. 2018Occupancy Networks: Learning 3D Reconstruction in Function Spacecited by 2,037
  5. 20194D Spatio-Temporal ConvNets: Minkowski Convolutional Neural Networkscited by 1,201
  6. 2021PlenOctrees for Real-time Rendering of Neural Radiance Fieldscited by 904
  7. 2020GIRAFFE: Representing Scenes as Compositional Generative Neural Feature Fieldscited by 784
  8. 2020Convolutional Occupancy Networkscited by 760
  9. 20173D Semantic Segmentation with Submanifold Sparse Convolutional Networkscited by 746
  10. 2020Learning Continuous Image Representation with Local Implicit Image Functioncited by 550
  11. 2016Semantic Scene Completion from a Single Depth Imagecited by 468
  12. 2021In-Place Scene Labelling and Understanding with Implicit Scene Representationcited by 411
14 more
  1. 2020Sparse Single Sweep LiDAR Point Cloud Segmentation via Learning Contextual Shape Priors from Scene Completioncited by 222
  2. 2021NeX: Real-time View Synthesis with Neural Basis Expansioncited by 215
  3. 2019BSP-Net: Generating Compact Meshes via Binary Space Partitioningcited by 205
  4. 2020LMSCNet: Lightweight Multiscale 3D Semantic Completioncited by 187
  5. 2021MINE: Towards Continuous Depth MPI with NeRF for Novel View Synthesiscited by 133
  6. 20203D Sketch-aware Semantic Scene Completion via Semi-supervised Structure Priorcited by 124
  7. 2020Complete & Label: A Domain Adaptation Approach to Semantic Segmentation of LiDAR Point Cloudscited by 116
  8. 2021Holistic 3D Scene Understanding from a Single Image with Implicit Representationcited by 94
  9. 2019Efficient Semantic Scene Completion Network with Spatial Group Convolutioncited by 66
  10. 2019RGBD Based Dimensional Decomposition Residual Network for 3D Semantic Scene Completioncited by 54
  11. 2020Depth Based Semantic Scene Completion with Position Importance Aware Losscited by 36
  12. 2020RfD-Net: Point Scene Understanding by Semantic Instance Reconstructioncited by 36
  13. 2017Physics Inspired Optimization on Semantic Transfer Features: An Alternative Method for Room Layout Estimationcited by 29
  14. 2021PQ-Transformer: Jointly Parsing 3D Objects and Layouts from Point Cloudscited by 26

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Cited by year

Citing papers per year: 2022: 2; 2023: 3; 2024: 3; 2025: 2.

10 papers.

  1. 2023VoxFormer: Sparse Voxel Transformer for Camera-based 3D Semantic Scene Completioncited by 306
  2. 2023SSCBench: A Large-Scale 3D Semantic Scene Completion Benchmark for Autonomous Drivingcited by 72
  3. 2024RadarOcc: Robust 3D Occupancy Prediction with 4D Imaging Radarcited by 32
  4. 2022GenSDF: Two-Stage Learning of Generalizable Signed Distance Functionscited by 30
  5. 2023S4C: Self-Supervised Semantic Scene Completion with Neural Fieldscited by 27
  6. 2025Feed-Forward SceneDINO for Unsupervised Semantic Scene Completioncited by 11
  7. 2022SNAKE: Shape-aware Neural 3D Keypoint Fieldcited by 10
  8. 2024Boosting Self-Supervision for Single-View Scene Completion via Knowledge Distillationcited by 6
  9. 2025IPFormer: Visual 3D Panoptic Scene Completion with Context-Adaptive Instance Proposalscited by 3
  10. 2024Decomposition of Neural Discrete Representations for Large-Scale 3D Mappingcited by 0